Fang Tian, Guang Ming Liu, Ke Tao
Abstract
The PRRR manipulator of the kinematic equation transformation matrix is worked out by using D-H method, the kinematics solutions are derived ；The coordinate transform method and inverse transform method of the robot kinematics equations are derived, the inverse kinematics is derived and a example is given.
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The PRRR manipulator of the kinematic equation transformation matrix is worked out by using D-H method, the kinematics solutions are derived ；The coordinate transform method and inverse transform method of the robot kinematics equations are derived, the inverse kinematics is derived and a example is given.
Key concepts: Kinematics, Inverse kinematics, Kinematics equations, Forward kinematics, Transformation matrix, Transformation (genetics), Inverse, Robot kinematics